Track Robot

Abstract

The present invention provides a rail robot. The rail robot includes a main body, a guide wheel mechanism, a driving wheel mechanism, a driving mounting member and a pressure regulating mechanism. The guide wheel mechanism is mounted on the main body, the driving wheel mechanism is mounted on the driving mounting member, and the first end of the driving mounting member is hinged to the main body. The pressure regulating mechanism includes a telescopic movable member, the first end of the telescopic movable member is hinged to the main body, and the second end of the telescopic movable member is hinged to the second end of the driving mounting member. By applying the technical solution of the present invention, the pre-tightening force generated by the driving mounting member on the driving wheel mechanism is adjusted by extending or shortening the telescopic movable member of the driving wheel mechanism, so that the driving wheel mechanism and the track are effectively pressed together, and the driving wheel mechanism and the track cooperate to achieve effective and high-precision movement. In subsequent maintenance or overhaul, the telescopic movable member can also be adjusted to shorten to relax the driving wheel mechanism and the track.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, in particular to a track robot. Background Art

[0002] As robots are used in more and more occasions, more and more robots that walk along tracks are used in occasions with certain safety requirements to improve the reliability of equipment movement. At present, most track robots are installed using I-shaped tracks. Generally, rollers are installed in the grooves on both sides of the I-shaped track, and the driving wheels are fitted with the I-shaped track to drive the robot to move.

[0003] In the above-mentioned prior art, since the robot adopts a suspended installation method, sometimes the driving wheel may have an unreliable contact with the track, which may easily cause the driving wheel to slip, resulting in a decrease in the walking accuracy of the track robot. Summary of the invention

[0004] The main purpose of the present invention is to provide a rail robot to solve the technical problem of reduced walking accuracy of rail robots in the prior art due to unreliable contact of driving wheels.

[0005] In order to achieve the above-mentioned objectives, the present invention provides a track robot, comprising: a main body; a guide wheel mechanism, installed on the main body, used to slidably mount the main body on the track; a driving wheel mechanism, used to abut against the track to drive the main body to move on the track; a driving mounting member, a first end of the driving mounting member is hinged to the main body, and the driving wheel mechanism is installed on the driving mounting member; a pressure regulating mechanism, comprising a telescopic movable member, a first end of the telescopic movable member is hingedly mounted on the main body, a second end of the telescopic movable member is hinged to the second end of the driving mounting member, and the telescopic movable member drives the driving wheel mechanism to tighten or loosen the track by extending or shortening the driving mounting member.

[0006] In one embodiment, the pressure regulating mechanism further comprises a base, the base is fixedly mounted on the main body, and the first end of the telescopic movable member is hingedly mounted on the base.

[0007] In one embodiment, the telescopic movable member includes a telescopic rod and a compression spring, the first end of the telescopic rod is hinged to the base, the second end of the telescopic rod is hinged to the second end of the driving mounting member, and the compression spring is installed on the telescopic rod to drive the telescopic rod to extend.

[0008] In one embodiment, the telescopic movable member further includes a compression adjusting member, which is installed on the telescopic rod and is used to adjust the force of the compression spring on the telescopic rod.

[0009] In one embodiment, the first end of the telescopic rod is hinged to the base through a first rotating shaft bearing, and the second end of the telescopic rod is hinged to the second end of the driving mounting member through a second rotating shaft bearing.

[0010] In one embodiment, a joint bearing is further arranged between the second end of the telescopic rod and the second rotating shaft bearing.

[0011] In one embodiment, the first end of the drive mounting member is hingedly connected to the main body via a third rotating shaft bearing.

[0012] In one embodiment, the driving wheel mechanism includes a motor, a transmission mechanism and a driving wheel. The motor is drivingly connected to the driving wheel through the transmission mechanism, and the driving wheel is used to abut against the track.

[0013] In one embodiment, the transmission mechanism includes a reducer and a pulley assembly, the reducer is installed at the output end of the motor, and the pulley assembly is installed between the reducer and the driving wheel.

[0014] In one embodiment, the main body includes a load-bearing main board and a drive box mounted under the load-bearing main board, the guide wheel mechanism is installed on the load-bearing main board, and the drive wheel mechanism, drive mounting member and pressure regulating mechanism are installed in the drive box.

[0015] By applying the technical solution of the present invention, the preload force generated by the drive mounting part on the drive wheel mechanism is adjusted by extending or shortening the telescopic movable part of the drive wheel mechanism, so that the drive wheel mechanism and the track are effectively pressed together, and the drive wheel mechanism and the track cooperate to achieve effective and high-precision movement. In subsequent maintenance or overhaul, the telescopic movable part can also be adjusted to shorten to relax the drive wheel mechanism and the track.

[0016] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0018] Figure 1 A schematic diagram of the overall structure of an embodiment of a rail robot according to the present invention is shown. DETAILED DESCRIPTION

[0019] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0020] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0021] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate, so as to describe the embodiments of the present invention described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0022] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0023] Figure 1 The embodiment of the rail robot of the present invention is shown, and the rail robot includes a main body 10, a guide wheel mechanism 20, a drive wheel mechanism 30, a drive mounting member 40 and a pressure regulating mechanism 50. The guide wheel mechanism 20 is mounted on the main body 10, and the drive wheel mechanism 30 is mounted on the drive mounting member 40. The first end of the drive mounting member 40 is hinged to the main body 10. The pressure regulating mechanism 50 includes a telescopic movable member, the first end of the telescopic movable member is hinged to the main body 10, and the second end of the telescopic movable member is hinged to the second end of the drive mounting member 40. When in use, the guide wheel mechanism 20 is used to slidably mount the main body 10 on the track t, the drive wheel mechanism 30 is used to abut against the track t to drive the main body 10 to move on the track t, and the telescopic movable member drives the drive wheel mechanism 30 to press or loosen with the track t by extending or shortening the drive mounting member 40.

[0024] By applying the technical solution of the present invention, the pre-tightening force generated by the drive mounting member 40 on the drive wheel mechanism 30 is adjusted by extending or shortening the telescopic movable member of the drive wheel mechanism 30, so that the drive wheel mechanism 30 and the track t are effectively pressed together, and the drive wheel mechanism 30 and the track t cooperate to achieve effective and high-precision movement. In subsequent maintenance or overhaul, the telescopic movable member can also be adjusted to shorten to relax the drive wheel mechanism 30 and the track t.

[0025] As an optional implementation, Figure 1 As shown, the pressure regulating mechanism 50 also includes a base 51, which is fixedly mounted on the main body 10, and the first end of the telescopic movable member is hingedly mounted on the base 51. The base 51 can provide a hinge point for the first end of the telescopic movable member more stably.

[0026] As an optional implementation, in the technical solution of this embodiment, the telescopic movable part includes a telescopic rod 52 and a compression spring 53, the first end of the telescopic rod 52 is hinged to the base 51, the second end of the telescopic rod 52 is hinged to the second end of the drive mounting member 40, and the compression spring 53 is installed on the telescopic rod 52 to drive the telescopic rod 52 to extend. When in use, the compression spring 53 drives the telescopic rod 52 to extend, so that the drive mounting member 40 continuously generates a pressing force on the drive wheel mechanism 30, so that the drive wheel mechanism 30 is pressed against the track t, so that the drive wheel mechanism 30 cooperates with the track t to achieve effective and high-precision movement. More preferably, in the technical solution of this embodiment, the telescopic movable part also includes a pressing adjustment member 54, which is installed on the telescopic rod 52. The operator can adjust the force of the compression spring 53 on the telescopic rod 52 by operating the pressing adjustment member 54, so that the force between the drive wheel mechanism 30 and the track t is within a reasonable range.

[0027] As another optional implementation, the telescopic movable part may also be an electric push rod, an electric cylinder or other movable cylinder to realize the adjustment function of the drive mounting part 40.

[0028] More preferably, in the technical solution of this embodiment, the first end of the telescopic rod 52 is hinged to the base 51 through the first rotating shaft bearing 56, and the second end of the telescopic rod 52 is hinged to the second end of the driving mounting member 40 through the second rotating shaft bearing 55. The first rotating shaft bearing 56 and the second rotating shaft bearing 55 allow the telescopic rod 52 to rotate more stably and smoothly. Preferably, a joint bearing 57 is further provided between the second end of the telescopic rod 52 and the second rotating shaft bearing 55, and the joint bearing 57 can provide the second end of the telescopic rod 52 with higher rotation flexibility, thereby avoiding problems such as the telescopic rod 52 being stuck.

[0029] Preferably, Figure 1As shown, in the technical solution of this embodiment, the first end of the driving mounting member 40 is hinged to the main body 10 through the third rotating shaft bearing 41, so that the driving mounting member 40 can rotate more smoothly.

[0030] In the technical solution of this embodiment, the driving wheel mechanism 30 includes a motor 31, a transmission mechanism and a driving wheel 32. The motor 31 is connected to the driving wheel 32 through the transmission mechanism. The driving wheel 32 abuts against the track t and drives the main body 10 to move on the track t by rotating. As an optional embodiment, Figure 1 As shown, in the technical solution of this embodiment, the transmission mechanism includes a reducer 33 and a pulley assembly 34, the reducer 33 is installed at the output end of the motor 31, and the pulley assembly 34 is installed between the reducer 33 and the driving wheel 32. Specifically, the pulley assembly 34 includes a first synchronous pulley 341, a second synchronous pulley 342, and a synchronous belt 352 connected between the first synchronous pulley 341 and the second synchronous pulley 342. During operation, the motor 31 outputs a suitable torque and speed to the first synchronous pulley 341 through the reducer 33, the first synchronous pulley 341 drives the second synchronous pulley 342 to rotate through the synchronous belt 352, and the second synchronous pulley 342 drives the driving wheel 32 to run through the concentric rotation. As other optional embodiments, the transmission mechanism can also be transmitted by a gear set or other transmission components.

[0031] like Figure 1 As shown, in the technical solution of this embodiment, the main body 10 includes a load-bearing main board 11 and a drive box 12 mounted under the load-bearing main board 11. The guide wheel mechanism 20 is installed on the load-bearing main board 11, and the drive wheel mechanism 30, the drive mounting member 40 and the pressure regulating mechanism 50 are installed in the drive box 12. Optionally, in the technical solution of this embodiment, there are four guide wheel mechanisms 20, which are respectively installed at the four corners of the load-bearing main board 11, and cooperate with the drive wheel mechanism 30 located in the drive box 12 to realize the movement of the track robot on the track t. In the technical solution of this embodiment, a four-bar mechanism is formed by the drive mounting member 40, the telescopic rod 52, the drive box 12 and the base 51 connected thereto, and the clamping adjustment member 54, through which the drive wheel mechanism 30 and the track t can be quickly and effectively adjusted to be pressed or loosened. When in use, the compression spring 53 on the telescopic rod 52 drives the telescopic rod 52 to extend. The driven telescopic rod 52 here is equivalent to the slider in the four-bar mechanism, and the driving mounting member 40 is equivalent to the rocker in the four-bar mechanism. The above-mentioned four-bar mechanism is a slider-rocker four-bar mechanism.

[0032] It should be noted that the technical solution of the present invention is applicable to an I-shaped track structure, and may also be applicable to other types of mounting tracks.

[0033] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0034] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0035] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0036] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A rail robot, characterized in that: include: Main body (10); A guide wheel mechanism (20) is mounted on the main body (10) and is used to slidably mount the main body (10) on a track; A driving wheel mechanism (30) used for abutting against the track to drive the main body (10) to move on the track; a drive mounting member (40), wherein a first end of the drive mounting member (40) is hinged to the main body (10), the drive wheel mechanism (30) is mounted on the drive mounting member (40), and the first end of the drive mounting member (40) is hinged to the main body (10) via a third rotating shaft bearing (41); The pressure regulating mechanism (50) comprises a telescopic movable member, wherein a first end of the telescopic movable member is hingedly mounted on the main body (10), a second end of the telescopic movable member is hingedly connected to a second end of the driving mounting member (40), and the telescopic movable member drives the driving wheel mechanism (30) to be pressed or loosened with the track by adjusting the driving mounting member (40) by extending or shortening the driving mounting member (40). The pressure regulating mechanism (50) further comprises a base (51), wherein the base (51) is fixedly mounted on the main body (10), a first end of the telescopic movable member is hingedly mounted on the base (51), and the telescopic movable member comprises a telescopic rod (52) and a compression spring (53). ), a first end of the telescopic rod (52) is hinged to the base (51), a second end of the telescopic rod (52) is hinged to the second end of the driving mounting member (40), the compression spring (53) is mounted on the telescopic rod (52) to drive the telescopic rod (52) to extend, the first end of the telescopic rod (52) is hinged to the base (51) via a first rotating shaft bearing (56), the second end of the telescopic rod (52) is hinged to the second end of the driving mounting member (40) via a second rotating shaft bearing (55), and a joint bearing (57) is further provided between the second end of the telescopic rod (52) and the second rotating shaft bearing (55).

2. The rail robot according to claim 1, characterized in that: The telescopic movable member further comprises a pressing adjustment member (54), wherein the pressing adjustment member (54) is mounted on the telescopic rod (52) and is used to adjust the force of the compression spring (53) on the telescopic rod (52).

3. The rail robot according to claim 1, characterized in that: The driving wheel mechanism (30) comprises a motor (31), a transmission mechanism and a driving wheel (32); the motor (31) is drivingly connected to the driving wheel (32) via the transmission mechanism; the driving wheel (32) is used to abut against the track.

4. The rail robot according to claim 3, characterized in that: The transmission mechanism comprises a reducer (33) and a pulley assembly (34); the reducer (33) is mounted at the output end of the motor (31); and the pulley assembly (34) is mounted between the reducer (33) and the driving wheel (32).

5. The rail robot according to claim 1, characterized in that: The main body (10) comprises a load-bearing main board (11) and a drive box (12) mounted under the load-bearing main board (11); the guide wheel mechanism (20) is mounted on the load-bearing main board (11); and the drive wheel mechanism (30), the drive mounting member (40) and the pressure regulating mechanism (50) are mounted in the drive box (12).

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